xdWAITSPLINE
(Library)
[Version 2.3 or later]
Waits for the free curve to pass the designated viapoint.
xdWAITSPLINE (<Viapoint number>, <Waiting condition>)
Free curve motion in progress waits until passage on the point designated by the <Viapoint number>.
If 0 is designated as the <Waiting condition>, the robot waits until the command value passes the designated viapoint.
If a different value is specified, the robot waits until the encoder value passes the designated viapoint.
When xdWAITSPLINE is called with the free curve not executed, the robot does not wait.
Also, if xdWAITSPLINE is called after passing the viapoint designated by the <Viapoint number>, the robot does not wait.
|
PROGRAM PRO1
|
|
|
TAKEARM
|
|
|
CLRSPLINEPOINT 5
|
'Clears all viapoints for the free curve
'with path No. 5.
|
|
SETSPLINEPOINT 5, P4
|
'Sets P4 as the first viapoint for the free
'curve with trajectory 5.
|
|
SETSPLINEPOINT 5, P1
|
'Sets P1 as the second viapoint for the free
'curve with trajectory 5.
|
|
SETSPLINEPOINT 5, J5
|
'Sets J5 as the third viapoint for the free
'curve with trajectory 5.
|
|
MOVE S, 5, NEXT
|
'Executes free curve motion to J5 through P4
'and P1.
|
|
CALL xdWAITSPLINE(1,1)
|
'Waits until the robot passes the first
'viapoint (P4).
|
|
SET IO[240]
|
'Sets port 240 to ON.
|
|
CALL xdWAITSPLINE(2,1)
|
'Waits until the robot passes the
'second viapoint (P1).
|
|
RESET IO[240]
|
'Sets port 240 to OFF.
|